Abstract
An embedded coupled tank system (CTS) based on an ARM Cortex M7 microcontroller is developed for liquid level control, utilizing three nonlinear control strategies: fuzzy logic controller (FLC), feedback linearization (FL)-based proportional integral derivative (PID) controller, and FL-based FLC. The goal is to maintain an accurate predefined water level in the second tank and compare the performance of these controllers in terms of overshoot, settling time, and tracking accuracy. The CTS model is developed using physical parameters obtained from a real experimental setup. The controllers are first simulated in Matlab/Simulink and then tested on a physical CTS prototype, featuring a microcontroller interface with pumps, actuators, and sensors for real-time control and data acquisition. A custom graphical user interface and software are developed for conducting experiments and acquiring data. Results show that FL-based FLC and FL-based PID controllers offer better overshoot and tracking performances than FLC on nonlinear CTS. However, FLC and FL-based FLC outperform FL-based PID in settling time, with FL-based FLC showing very good performance in terms of tracking accuracy, overshoot, and settling time.